Dynamic sensor-based control of robots with visual feedback

TLDR

Sensor‑based robot control is a hierarchical system that uses actuator, feature‑based, and recognition observers to provide multilevel feedback at the actuator, sensor, and world coordinate frames. The study analyzes and designs feature‑based control strategies to achieve consistent dynamic performance. The authors develop and analyze these feature‑based control strategies. Image‑based visual servo control delivers stable, consistent dynamic control in local regimes, and simulations of two‑ and three‑degree‑of‑freedom systems show that an adaptive algorithm can overcome unknown nonlinear feature‑to‑world mapping.

Abstract

Sensor-based robot control may be viewed as a hierarchical structure with multiple observers. Actuator, feature-based, and recognition observers provide the basis for multilevel feedback control at the actuator, sensor, and world coordinate frame levels, respectively. The analysis and design of feature-based control strategies to achieve consistent dynamic performance is addressed. For vision sensors, such an image-based visual servo control is shown to provide stable and consistent dynamic control within local regimes of the recognition observer. Simulation studies of two- and three-degree-of-freedom systems show the application of an adaptive control algorithm to overcome unknown and nonlinear relations in the feature to world space mapping.